Controller Implementation of a Powered Transtibial Prosthetic Device

2011 ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Control Algorithm ◽  
Human Subjects ◽  
Pid Controllers ◽  
Current Sensor ◽  
Level Control ◽  
State Controller ◽  
Finite State ◽  
New Type ◽  
Absolute Encoder ◽  
A Current

A new type of powered transtibial prosthesis was designed and fabricated. This device has reasonable size, weight and strength for daily use. In order to test the device on human subjects, a control algorithm and a control system are required. A two level control algorithm, which includes a higher level finite state controller and lower level PID controllers, is proposed and the configuration of this system is presented in this paper. An absolute encoder, a current sensor and two sets of force-sensing resistors are used to provide the feedback; a dSPACE system and MATLAB Simulink are used to realize the higher level control, and a DC motor controller is used to realize the lower level PID controller.

Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing

2013 ◽  
Vol 8 (1) ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Digital Signal Processor ◽  
Control Algorithm ◽  
Controller Design ◽  
Digital Signal ◽  
Bench Test ◽  
Level Control ◽  
State Controller ◽  
Finite State ◽  
Dsp Control ◽  
Bench Testing

This article outlines the controller design for a specific active transtibial prosthesis. The controller governs the power output of a DC motor attached to a four-bar mechanism and torsional spring. Active power reinforcement is used to assist the push off at later stages of the stance phase and achieve ground clearance during the swing phase. A two level control algorithm which includes a higher level finite state controller and lower level proportional-integral-derivative (PID) controllers is applied. To implement this control algorithm, a digital signal processor (DSP) control board was used to realize the higher level control and an off-the-shelf motor controller was used to realize the lower level PID control. Sensors were selected to provide the desired feedback. A dynamic simulation was performed to obtain the proper PID parameters which were then utilized in a bench test to verify the approach.

A Current Sensor Based on Capillary Microresonator Filled With Terfenol-D Nanoparticles

2021 ◽  
Vol 33 (5) ◽  
pp. 239-242
Author(s):  
Chang-Qiu Yu ◽  
Rui Niu ◽  
Zhong-Di Peng ◽  
Hai Li ◽  
Yong-Ming Luo ◽  
...  
Keyword(s):  
Current Sensor ◽  
A Current

Implementation of Power Line Communication (PLC) for Monitoring Current Use at State Polytechnic of Malang

2018 ◽  
Vol 7 (2) ◽  
pp. 36-39
Author(s):  
Galuh Lukitasari ◽  
Aad Hariyadi ◽  
Ridho Hendra Yoga Perdana
Keyword(s):  
Communication Technology ◽  
Communication Technologies ◽  
Power Line ◽  
Current Sensor ◽  
Power Line Communication ◽  
Data Errors ◽  
Electric Grids ◽  
Current Usage ◽  
Current Value ◽  
A Current

One of the communication technologies that can be used for monitoring current usage is communication technology via electric grids or what is called Power Line Communication (PLC). The advantages of this technology are that the electricity network is already distributed in each building so there is no need for new installations, it is economical and affordable in terms of economics, and is more practical and flexible in its use. In this study, a current usage monitoring system using PLC is proposed which will be applied in every class in the AI ??building of Malang State Polytechnic. The sensor that will be used in measuring the current value is the current sensor SCT-013. By using the KQ330 PLC module as a PLC transmission modem. The implementation of PLC which is applied in each class in the AI ??building has a BER (bit error rate) value of 0.012 in the experiment of sending 1000 data with an error of 12 times at the farthest distance of approximately 15 meters. And have a BER value of 0 or have no error in sending data at the closest distance of approximately 2-5 meters. In this study, the process of sending and receiving data using Power Line Communication allows it to be done at a distance that is not too far away to avoid excessive data errors.

scholarly journals A new online monitoring application for high voltage switch based on non-contact current sensor

2021 ◽  
Vol 233 ◽  
pp. 01054
Author(s):  
ZHAO Ke ◽  
LI Yujie ◽  
ZHANG Liang ◽  
CHEN Shaobo ◽  
Wang Guoliang ◽  
...  
Keyword(s):  
High Voltage ◽  
Data Transmission ◽  
Mechanical Characteristics ◽  
Online Monitoring ◽  
Reliable Data ◽  
Current Sensor ◽  
Accident Rate ◽  
New Type ◽  
Online Monitoring System ◽  
Monitoring Application

High voltage switches are indispensable in power system which will control and protect the high voltage lines. According to the research of high voltage switch equipment accident rate in the international conference on power grid for according, the high voltage switch equipment mechanical failure accidents accounted for more than 70%. Thus, it is meaningful to research the switch monitoring technology and develop an integration device with easy installation and reliable data transmission. In this paper, a new type of non-contact current sensor is used to develop the online monitoring system for the mechanical characteristics of HV switches, which will monitor and analyze the action characteristics of the opening coil, closing coil and energy storage motor.

Adaptive PID Controller Based on Single Neuron

2012 ◽  
Vol 466-467 ◽  
pp. 981-985 ◽  
Author(s):  
Xin Yun Qiu ◽  
Yuan Gao
Keyword(s):  
Pid Controller ◽  
Control Algorithm ◽  
Single Neuron ◽  
Variable Parameter ◽  
Fast Response ◽  
Control Law ◽  
Parameters Tuning ◽  
Application Condition ◽  
Simulation And Experiment ◽  
New Type

An adaptive PID controller based on single neuron is proposed. The properties, control algorithm, parameters tuning, the control law and the application condition of the controller are studied in the paper. To satisfy the properties of the requirements of the control system in an electromotor group, such as a broad dynamic changing range, a fast response, a little overshoot and time-variable parameter, a new-type self-optimizing PID controller based on artificial neural networks is proposed and studied. It is verified that the controller has few adjustable parameters and excellent robust performance. The results of simulation and experiment prove that the controller is superior to the traditional PID controller.

Sensor of Current or Magnetic Field Based on Magnetoresistance Effect in (La0.7Ca0.3)0.8Mn1.2O3 Manganite Film

2009 ◽  
Vol 154 ◽  
pp. 157-161 ◽  
Author(s):  
V.P. Dyakonov ◽  
S. Piechota ◽  
K. Piotrowski ◽  
A. Szewczyk ◽  
H. Szymczak ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Short Circuit ◽  
Operation Time ◽  
Electric Circuit ◽  
Current Sensor ◽  
Detectable Change ◽  
Magnetoresistance Effect ◽  
Manganite Film ◽  
Current Value ◽  
A Current

The main objective of the performed investigations was to enhance sensitivity of a current sensor to weak changes of magnetic field. New design of the sensor of current based on magnetoresistance effect – MRE (MRE = (RH - R0)/R0 , where RH is the resistance in magnetic field and R0 is the resistance without magnetic field) was developed. The sensor was produced in the form of an annular magnet with a gap, in which the (La0.7Sr0.3)0.8Мn1.2О3 manganite film possessing large negative MRE was inserted. Nominal current in a controllable electric circuit can change from a few tenths parts of ampere to a hundred of amperes. The limit detectable change of current value depends on the size of gap in the annular magnet. The operation time of sensor at current overload and short circuit is less than 0.3 sec. These magnetoresistors are thermally stable over the temperature range from (- 50 ° С) to (+ 50 ° С). Proposed sensors based on MRE can be applied in many electrical arrangements and devices.

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